Apparatus and method for controlling pitch reduction

4. The apparatus of claim 1, wherein the program instructions when executed are further configured to: pass, by using a notch filter included in the pitch rate estimation device, through a result of the difference u in acceleration determined by the acceleration difference determining device through a predetermined frequency band to remove a vibration component of the band.

5. The apparatus of claim 1, wherein the program instructions when executed are further configured to: subtract by using an arithmetic mean subtracting device included in the pitch rate estimation device, the arithmetic mean for the difference in acceleration from the difference in acceleration.

7. The apparatus of claim 6, wherein the program instructions when executed are further configured to: set, by using a pseudo-integral setting device included in the pitch rate estimation device, a value where the result of the pseudo-integral in the pseudo-integral performing device is saturated to a specific constant c.

8. The apparatus of claim 1, wherein the program instructions when executed are further configured to: multiply, by using the pitch motion reduction controller, a pitch reduction control gain Kp by the estimation value {dot over ({circumflex over (θ)})} of the pitch rate {dot over (θ)} determined by performing the pseudo-integral in the pitch rate estimation device to determine a value of the motor torque to drive the electric motor.